version: 66.07
glider: 542
mission: 6
dive: 95
start: 12 23 112 21 45 30
data:
$ID,542
$MISSION,6
$DIVE,95
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,348
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52816
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4230
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,563.99261
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-10645.074
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,3888
$C_PITCH,1870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,335
$ROLL_MAX,3901
$ROLL_DEG,40
$C_ROLL_DIVE,2923
$C_ROLL_CLIMB,2734
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2820
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.034508
$PRESSURE_SLOPE,0.00011816985
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042910837
$SEABIRD_T_H,0.00061853422
$SEABIRD_T_I,2.1182957e-05
$SEABIRD_T_J,2.0754619e-06
$SEABIRD_C_G,-9.7625904
$SEABIRD_C_H,1.1369455
$SEABIRD_C_I,-0.0017508121
$SEABIRD_C_J,0.00021125977
$GPS1,231212,213422,-4630.469,404.687,40,1.6,40,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-37.3
$GPS2,231212,214432,-4630.541,404.740,19,0.9,21,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.015,0.173
$KALMAN_X,-65850.2,785.3,269.1,49274.6,-5840.0
$KALMAN_Y,26205.7,222.6,-51.1,12028.8,-645.4
$MHEAD_RNG_PITCHd_Wd,18.4,6125,-27.2,-10.010
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.81,-63.1,0.0,0.0,0,162,0.00,0.00,-132.68,0.000,6,0.000,0.000,55,2931,3078,0,0,0,0,0,0
$GC,169,-0.91,-141.5,2.7,-1.7,17,195,6.35,1.60,-9.57,0.000,4,0.257,0.083,1563,3891,3399,0,0,0,0,0,0
$GC,280,-0.91,-141.5,25.7,-20.9,33,289,0.00,1.50,0.00,0.000,6,0.000,0.033,1563,2912,3401,0,0,0,0,0,0
$GC,363,-0.91,-141.5,43.7,-20.7,46,372,0.00,2.15,0.00,0.000,4,0.000,0.037,1563,1530,3401,0,0,0,0,0,0
$GC,394,-0.91,-141.5,50.0,-20.6,50,403,0.00,2.28,0.00,0.000,6,0.000,0.053,1553,2918,3401,0,0,0,0,0,0
$GC,639,-0.91,-141.5,97.6,-18.6,91,643,0.00,2.12,0.00,0.000,4,0.000,0.036,1554,1528,3401,0,0,0,0,0,0
$GC,654,-0.91,-141.5,101.0,-19.0,93,661,0.12,2.25,0.00,0.000,6,0.220,0.050,1570,2934,3401,0,0,0,0,0,0
$GC,975,-0.91,-141.5,157.5,-17.6,114,976,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2934,3402,0,0,0,0,0,0
$GC,1288,-0.91,-141.5,213.6,-17.7,134,1292,0.00,2.15,0.00,0.000,4,0.000,0.036,1570,1524,3401,0,0,0,0,0,0
$GC,1324,-0.91,-141.5,220.1,-16.9,136,1329,0.00,2.25,0.00,0.000,6,0.000,0.052,1561,2932,3402,0,0,0,0,0,0
$GC,1662,-0.91,-141.5,279.7,-17.5,155,1666,0.00,1.52,0.00,0.000,4,0.000,0.059,1554,3896,3402,0,0,0,0,0,0
$GC,1737,-0.91,-141.5,294.4,-18.8,158,1741,0.00,1.48,0.00,0.000,6,0.000,0.033,1553,2921,3402,0,0,0,0,0,0
$GC,2066,-0.91,-141.5,355.8,-18.7,174,2070,0.00,2.10,0.00,0.000,4,0.000,0.037,1553,1525,3402,0,0,0,0,0,0
$GC,2103,-0.91,-141.5,362.9,-17.8,175,2110,0.12,2.22,0.00,0.000,6,0.212,0.053,1571,2926,3402,0,0,0,0,0,0
$GC,2430,-0.91,-141.5,417.3,-16.5,190,2434,0.00,1.52,0.00,0.000,4,0.000,0.060,1565,3892,3402,0,0,0,0,0,0
$GC,2510,-0.91,-141.5,431.1,-17.2,192,2514,0.00,1.45,0.00,0.000,6,0.000,0.034,1565,2928,3402,0,0,0,0,0,0
$GC,2842,-0.91,-141.5,485.9,-16.4,203,2845,0.00,2.10,0.00,0.000,4,0.000,0.038,1565,1528,3402,0,0,0,0,0,0
$GC,2899,-0.91,-141.5,494.9,-14.8,204,2906,0.00,2.22,0.00,0.000,6,0.000,0.054,1554,2932,3402,0,0,0,0,0,0
$GC,3214,-0.91,-141.5,546.0,-16.3,215,3217,0.00,1.52,0.00,0.000,4,0.000,0.060,1547,3898,3402,0,0,0,0,0,0
$GC,3237,-0.91,-141.5,550.4,-16.8,215,3241,0.00,1.48,0.00,0.000,6,0.000,0.033,1547,2923,3401,0,0,0,0,0,0
$GC,3558,-0.91,-141.5,602.3,-16.0,226,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2919,3401,0,0,0,0,0,0
$GC,3864,-0.91,-141.5,650.6,-15.7,236,3868,0.00,1.58,0.00,0.000,4,0.000,0.060,1540,3899,3401,0,0,0,0,0,0
$GC,3882,-0.91,-141.5,653.5,-15.5,236,3886,0.10,1.48,0.00,0.000,6,0.197,0.034,1567,2928,3401,0,0,0,0,0,0
$GC,4208,-0.91,-141.5,699.2,-14.1,247,4212,0.00,1.55,0.00,0.000,4,0.000,0.061,1561,3890,3401,0,0,0,0,0,0
$GC,4249,-0.91,-141.5,705.6,-16.0,248,4253,0.00,1.48,0.00,0.000,6,0.000,0.034,1561,2914,3400,0,0,0,0,0,0
$GC,4586,-0.91,-141.5,757.1,-15.2,259,4590,0.00,2.08,0.00,0.000,4,0.000,0.038,1561,1522,3400,0,0,0,0,0,0
$GC,4599,-0.91,-141.5,759.2,-15.2,259,4603,0.00,2.22,0.00,0.000,6,0.000,0.054,1550,2927,3400,0,0,0,0,0,0
$GC,4925,-0.91,-141.5,807.8,-14.6,270,4929,0.00,2.10,0.00,0.000,4,0.000,0.037,1550,1527,3400,0,0,0,0,0,0
$GC,4937,-0.91,-141.5,810.0,-14.5,270,4942,0.12,2.20,0.00,0.000,6,0.217,0.053,1569,2924,3400,0,0,0,0,0,0
$GC,5264,-0.91,-141.5,851.9,-13.1,281,5268,0.00,2.12,0.00,0.000,4,0.000,0.038,1569,1519,3399,0,0,0,0,0,0
$GC,5276,-0.91,-141.5,853.8,-13.0,281,5280,0.00,2.22,0.00,0.000,6,0.000,0.054,1559,2924,3399,0,0,0,0,0,0
$GC,5602,-0.91,-141.5,898.1,-13.6,292,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2924,3399,0,0,0,0,0,0
$GC,5909,-0.91,-141.5,940.5,-14.0,302,5913,0.00,1.52,0.00,0.000,4,0.000,0.061,1552,3893,3399,0,0,0,0,0,0
$GC,5955,-0.91,-141.5,947.3,-15.0,303,5959,0.00,1.48,0.00,0.000,6,0.000,0.034,1552,2915,3399,0,0,0,0,0,0
$GC,6287,-0.91,-141.5,993.3,-14.2,314,6290,0.00,2.08,0.00,0.000,4,0.000,0.038,1552,1525,3399,0,0,0,0,0,0
$GC,6305,-0.91,-141.5,996.3,-14.4,314,6309,0.12,2.22,0.00,0.000,6,0.212,0.054,1569,2928,3398,0,0,0,0,0,0
$STATE,6346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6346,begin apogee
$GC,6356,-0.19,0.0,1002.0,12.9,316,6502,0.80,0.00,141.85,1.245,6,0.186,0.000,1801,2736,2820,0,0,0,0,0,0
$STATE,6504,end apogee,CONTROL_FINISHED_OK
$STATE,6504,begin climb
$GC,6508,0.91,141.5,1005.0,0.0,321,6661,1.05,0.00,143.55,1.812,6,0.058,0.000,2173,2736,2242,0,0,0,0,1,0
$GC,6958,0.91,141.5,875.8,33.0,336,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2736,2237,0,0,0,0,0,0
$GC,7265,0.91,141.5,775.5,32.8,346,7269,0.00,2.25,0.00,0.000,4,0.000,0.045,2184,1339,2235,0,0,0,0,0,0
$GC,7317,0.91,141.5,758.9,29.5,347,7321,0.00,2.30,0.00,0.000,6,0.000,0.051,2184,2733,2234,0,0,0,0,0,0
$GC,7639,0.91,141.5,654.1,33.1,358,7643,0.00,2.22,0.00,0.000,4,0.000,0.045,2194,1340,2233,0,0,0,0,0,0
$GC,7663,0.91,141.5,645.3,32.6,358,7670,0.12,2.28,0.00,0.000,6,0.255,0.051,2170,2741,2233,0,0,0,0,0,0
$GC,7978,0.91,141.5,547.5,31.0,369,7982,0.00,2.22,0.00,0.000,4,0.000,0.044,2180,1337,2233,0,0,0,0,0,0
$GC,8041,0.91,141.5,528.4,27.8,370,8048,0.00,2.25,0.00,0.000,6,0.000,0.050,2180,2736,2232,0,0,0,0,0,0
$GC,8357,0.91,141.5,434.6,29.5,381,8361,0.00,2.22,0.00,0.000,4,0.000,0.046,2190,1335,2231,0,0,0,0,0,0
$GC,8380,0.91,141.5,427.1,29.8,381,8387,0.00,2.25,0.00,0.000,6,0.000,0.051,2190,2737,2231,0,0,0,0,0,0
$GC,8708,0.91,141.5,329.7,30.1,396,8712,0.00,2.20,0.00,0.000,4,0.000,0.045,2201,1340,2231,0,0,0,0,0,0
$GC,8721,0.91,141.5,325.2,30.5,396,8730,0.12,2.25,0.00,0.000,6,0.242,0.050,2169,2732,2230,0,0,0,0,0,0
$GC,9042,0.91,141.5,230.3,29.0,413,9046,0.00,2.17,0.00,0.000,4,0.000,0.046,2179,1341,2229,0,0,0,0,0,0
$GC,9060,0.91,141.5,223.8,28.3,414,9064,0.00,2.22,0.00,0.000,6,0.000,0.051,2178,2746,2229,0,0,0,0,0,0
$GC,9381,0.91,141.5,134.5,27.9,434,9385,0.00,2.20,0.00,0.000,4,0.000,0.046,2189,1338,2230,0,0,0,0,0,0
$GC,9418,0.91,141.5,124.7,26.6,436,9422,0.00,2.22,0.00,0.000,6,0.000,0.053,2189,2742,2229,0,0,0,0,0,0
$GC,9761,0.91,141.5,39.4,28.0,484,9770,0.00,1.85,0.00,0.000,4,0.000,0.059,2189,3897,2229,0,0,0,0,0,0
$GC,9850,0.91,141.5,14.4,28.4,497,9859,0.12,1.80,0.00,0.000,6,0.260,0.040,2168,2744,2229,0,0,0,0,0,0
$STATE,9892,end climb,SURFACE_DEPTH_REACHED
$STATE,9892,begin surface coast
$FINISH,1.4,1.026435
$STATE,9906,end surface coast,CONTROL_FINISHED_OK
$STATE,9906,begin surface
$SM_CCo,9929,181.07,0.794,1,0,518,564.18
$SM_GC,0.87,0.00,0.00,181.07,0.000,0.000,0.794,64,2930,518,-5.64,0.20,564.18
$IRIDIUM_FIX,-4613.60,407.37,231212,181857
$TT8_MAMPS,0.026964
$HUMID,56.26
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.20
$XPDR_PINGS,0
$24V_AH,21.7,20.104
$10V_AH,10.1,8.630
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,15.575,95.750,285.400,181.075,0.000,29.014,20.203,334.470,0.000,0.000,23.073,1263.445,6593.207,622.349,1697.203,543.550,33.355,1250.110,0.000,1283.758,0.000,1.009,0.000
$DEVICE_MAMPS,260.100,82.620,1812.285,794.070,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,329.935,1009.194,554.615,220.570,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354260
$DATA_FILE_SIZE,37160,505
$CAP_FILE_SIZE,90940,0
$CFSIZE,259252224,222703616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,241212,003529,-4629.512,404.196,37,0.9,37,-23.3